A Disturbance Observer Based Attitude Control Method for Flexible Satellite Trajectory Linearization
A technology of disturbance observer and trajectory linearization, applied in the direction of attitude control, etc., can solve the problems of poor robustness and weak interference suppression ability, and achieve the effect of enhancing robustness, easy control algorithm, and improving anti-interference ability
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specific Embodiment approach 1
[0086] Specific embodiment one: a kind of attitude control method of flexible satellite trajectory linearization based on disturbance observer comprises the following steps:
[0087] Key steps of the present invention:
[0088] 1. Satellite attitude control
[0089] The attitude control of the satellite includes attitude determination, attitude stabilization control and attitude maneuvering control. Attitude determination is to study the orientation or direction of the spacecraft relative to a reference datum, and then obtain the attitude angle parameters, and its accuracy depends on the accuracy of the attitude sensor and attitude algorithm. Attitude stabilization control is to keep the attitude of the aircraft in the expected direction and specified value. Attitude maneuvering is the process of reorienting an aircraft from one attitude to another. The patent of the present invention mainly conducts in-depth research on the attitude tracking control of the flexible satelli...
specific Embodiment approach 2
[0251] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the specific process of dynamic modeling of the flexible spacecraft in the step 1 is:
[0252] The hybrid coordinate method is used to describe the motion of the spacecraft with flexible appendages, that is, the central rigid body uses the coordinates (such as Euler angles) that usually describe the attitude of the rigid body, and the flexible appendages are described using discrete modal coordinates. In this way, a dynamic model that can accurately describe the motion of the spacecraft and is convenient for the analysis and design of the spacecraft control system is established.
[0253] Regardless of the rotation of the sail relative to the spacecraft body, the dynamic equation of the flexible spacecraft is as follows:
[0254]
[0255] For the convenience of analysis, the idea of equivalent interference is adopted, and the rigid-flexible coupling term and interference d combined into...
specific Embodiment approach 3
[0257] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the differential form of the control variable appears in the nominal control in the step two, and a quasi-differentiator is needed to obtain the derivative of the nominal state. The present invention uses a first-order A quasi-differentiator of the form:
[0258]
[0259] where s is the Laplacian operator, ω n,diff Is the bandwidth of the low-pass filter, which determines the ability of the differentiator to suppress high-frequency components.
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